Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
  • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
  • H02P25/022—Synchronous motors
  • H02P25/024—Synchronous motors controlled by supply frequency
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Definitions

• the present invention relates to a servo control device for controlling the speed of a servo motor, and more particularly to a servo control device capable of eliminating disturbance torque. .
• a current command (torque command) corresponding to the deviation between the command speed and the actual speed is generated, and the actual speed matches the command speed. Let it go.
• Fig. 7 is a block diagram of a conventional speed loop.
• 1 is a computing unit that performs a speed deviation, which is the difference between the command speed v c legally D and the actual speed v FB
• 2 is an integrator of the integration gain ki that integrates the output of the computing unit 1
• 3 is Proportional unit with proportional gain k 2 set and outputs k 2 ⁇ V FB
• 4 is a computing unit that calculates the output difference between the integrator and the proportional unit to generate a torque command
• Oh Ri J m in motors 7 is Mo one Thailand It can be done with a na-shear.
• An object of the present invention is to provide a motor which is not oscillated, and which can perform sufficient torque compensation for disturbance torque.
• An object of the present invention is to provide a servo control device capable of sufficiently suppressing the speed fluctuation to zero.
• a torque command corresponding to a difference between a command speed and an actual speed is generated, and the speed of a servo motor is determined based on the torque command.
• the servo controller that controls the motor estimates the actual speed and the disturbance torque, and calculates the difference between the actual speed and the estimated speed, and the deviation between the disturbance torque and the estimated value of the disturbance torque.
• a state observer configured to converge to zero, and a high-pass processing for performing high-pass processing on the disturbance torque estimated by the state observer.
• a filter and a torque command correction unit that corrects the torque command given to the servomotor based on the result of high-pass processing are provided. This is achieved by
• Fig. 1 is a block diagram of the servo control system according to the present invention
• Figs. 2 and 3 are explanatory diagrams of the principle of the state observer
• Fig. 5 is a block diagram of the state observer for disturbance estimation according to the present invention.
• Fig. 6 is an explanatory diagram of the frequency bands of the state observer and the hyperfilter.
• FIG. 7 is a block diagram showing a conventional speed loop.
• the present invention estimates a motor actual speed and a disturbance torque, calculates a deviation between the motor actual speed and the estimated speed, and calculates a difference between the disturbance torque and the disturbance torque.
• a state observer that converges the difference between the estimated value and the estimated value to zero is set, and the torque applied to the servomotor by the disturbance torque estimated by the state observer is set. Correct the command. Therefore, the principle of the oblique observer will be explained first.
• u (t) is a control input (manipulated variable)
• ⁇ is a state
• y (t) is an output.
• Eq. (4) is asymptotically stable, that is, if all the real parts of the eigenvalues of A are negative, then e (t) ⁇ 0 for t ⁇ infinity, ( Otherwise, ((t) does not show the information of x (t), and from equation (2), the state of system SYS shown in equation (1) can be estimated.
• SN1 and SN2 are sensors.
• a state observer is configured for the velocity loop in order to estimate the disturbance torque.
• Fig. 4 shows the situation from the torque command to the actual motor speed in the servo motor speed control.
• u (t) is collected by Torque co Mas emissions de
• X 2 (t) is the disturbance bets Torque
• 17 is an arithmetic section
• 18 is a servomotor
• J m is a motorizer.
• X t, 2 is Ru Oh in the X i, the estimated value of X 2. or
• K is a gain vector.
• x 1 (i) z 1 (i) + K 10 ( X l (i) -Z l (i))
• Fig. 5 the state observer is as shown in Fig. 5.
• X i is the actual motor speed
• ⁇ (i) is the estimated disturbance torque
• u (i) is the torque command.
• Fig. 1 is a block diagram of a speed control system incorporating such a state observer.
• the state observer is shown in a simplified manner.
• 10 is a speed loop, and all except for the analog part (amplifier, motor, current loop) 10 'surrounded by the dashed line are software dependent. It consists of digital arithmetic processing.
• Reference numeral 50 denotes a state observer, which is similarly configured by digital arithmetic processing by software.
• 7 0 Oh in Nono Lee Nono 0 scan full Note1 generate a correction door Torque co-Mas emissions de t 2 disturbance door Torque 2, which is estimated Ri by the state observer 5 0 is input 0 And have you the speed loop 1 0, 1 1 command speed v CMD and also you calculating the Oh Ru speed deviation by the difference one data rate X l calculator, 1 2 integrates the output of the arithmetic unit 1 1 1
• the integrator ( ⁇ / s) of the integral gain ⁇ ⁇ ⁇ is the output of the proportional unit.
• the hyperpass filter 70 has a transfer function K m .S / (s + a), and converts the low-frequency component of the disturbance torque 2 estimated by the oblique observer 50. attenuated, to enter the only high-frequency components in the preparative Torque co Mas emissions de auxiliary Tadashibu 1 5 K m multiplied by the correction preparative Torque co Mas emissions de t 2 and then the speed loop 1 0.
• the band of the high-pass filter 70 depends on the constant a, and the frequency characteristic is as shown by F1 (dotted line) in FIG. Note that the frequency characteristic of the state observer 50 is F 2 (dashed line), and therefore the characteristic of the entire system is F 3 (solid line).
• DOO Torque correction unit 1 5 preparative calculated For Torque co Mas emissions de ti or al correction preparative Torque co Mas down the de t 2 and difference values had bow I on the basis of the speed command true Honoré Output as command u (t) to drive the motor.
• the disturbance torque estimated according to the present invention is Since the low-frequency component is removed from 2, it is possible to prevent oscillation of the entire system. Even if the low-frequency component of the disturbance torque is removed by the high-pass filter 70, the speed fluctuation due to the low-frequency component can be suppressed by the speed loop itself. No problem.
• the correction coefficient K m of the disturbance torque estimated by the state observer can be increased, the high-frequency component in the disturbance that cannot be suppressed by the velocity loop can be obtained. Thus, the speed S can be sufficiently suppressed.

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• 1988
  • 1988-10-17 JP JP26114488A patent/JP2569152B2/ja not_active Expired - Lifetime
• 1989
  • 1989-10-06 WO PCT/JP1989/001031 patent/WO1990004882A1/ja active IP Right Grant
  • 1989-10-06 DE DE1989611678 patent/DE68911678T2/de not_active Expired - Fee Related
  • 1989-10-06 EP EP19890911088 patent/EP0407590B1/de not_active Expired - Lifetime
  • 1989-10-06 US US07/476,490 patent/US5091684A/en not_active Expired - Fee Related

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